Game Rules - Answer Thread

[Air Jordan]

Section 1.5.4.1 - Cliff Low Bar

Q: At the end of the match, while hanging from the Pull-up Bar is there a penalty for touching the Cliff Low Bar?

A: During the End Game Period, Robots may use the Cliff Low Bar as a support aid while in the act of performing a Pull-up maneuver. Referees determine the Score value of the Pull-up after the match ends. At the end of the Match, the Robot may touch the Cliff Low Bar without Penalty, provided that the conditions specified in section 1.5.4.1 are satisfied.

Section 1.5.4.1 states that Robots may "rest against the Cliff Low Bar." Section 1.5.4.1 also states that "the intent of the Scoring achievement is for the Cliff Pull-up Bar to support the Robot's weight. If the Cliff Vertical Divider, Cliff Low Bar and the opposing Alliance Robot are removed from the Mountain, a Robot that is Fully Supported by the Cliff Pull-up Bar would not fall from the Cliff."

[Air Jordan]

Section 1.5.2.3 - Parking on the Mountain and <GS10>

Q: In section 1.5.2 of the game manual, it has the following language: 'At the end of the Autonomous Period, Robots may be in either Alliance’s Climbing Area to earn these points. Point levels are based on the Area of the Mountain that Supports the Robot.' Do we interpret correctly that our Robot can get on any color mountain zone and earn points during autonomous period? For example, if we are in the Red Alliance, our Robot and our alliance' Robot can occupy both the red and blue mountains on the Red side.

A: Yes, Robots may Park on either Alliance Climbing Area during the Autonomous Period. For example, a Robot on the Red Alliance may park on the Blue Alliance Climbing Area on either Mountain during the Autonomous Period. See section 1.5.2.3 and rule <GS10> for the complete details.

[Air Jordan]

Sections 1.5.2 &amp; 1.5.3 - Recording the Score after all objects have come to rest,

Hello! We attended a scrimmage and encountered some issues that we believed to be worth submitting for solid rulings.

We are trying to understand the nuances between the interactions with sport stop and the field being completely at rest. According to Game Manual Part 2, "The Driver-Controlled Score is based on the position of Scoring Elements, All Clear Signals, and Robots at the end of the Match after all objects have come to rest" (1.5.3). However, due to the nature of sport stop, it is difficult to tell if it is the fact that a robot is being controlled or the sudden termination of movement is the cause of scoring.
Q1: If a robot were to be entirely stopped or uncontrolled before the buzzer, but a piece of debris were to fall into a goal as the buzzer signifying the end of a match sounded, shouldn't that debris be counted as scored?
Q2: How should situations like this be judged?

Thank you!
FTC Team 4290

A1: Yes, Debris that enters a Goal after a Robot is "entirely stopped or uncontrolled before the buzzer" is eligible to be counted as Scored.

A2: Robots are expected to stop playing the game within a reasonable human reaction time following the start of the game sound signaling the end of the Period. Drive Teams should make their best effort to stop game play immediately when the end of Period game sound begins. Before the Penalties described in rule <G8> come into play, referees will use their discretion to give Drive Teams a reasonable length of time to stop playing the game. The Game Design Committee recommends an approximate one second grace period following the conclusion of the game sound signaling the end of the Period for Robots to stop "playing the game."

[Air Jordan]

&lt;GS15&gt; - De-Scoring Debris from Mountain Goals and &lt;S1&gt; - Damaging a Mountain Goal

A couple of questions about the Mountain Goal baskets and rule GS15.

Q1: Assume the mountain goal baskets are empty. If while driving up the mountain or trying to hang, the robot accidently bumps the basket such that it falls off. Is this a penalty? What happens to the basket since it will no longer be able to score in it?

Q2: Assume basket has debris in it. What is the consequence if a robot accidently bumps the basket such that it falls off?

From reading GS15, "The intent of this rule is to prevent intentional de-Scoring. Debris that fall out of a Mountain Goal due to Robots climbing the Mountain, bumping into a Mountain Goal or Mountain, placing Debris into a Mountain Goal, engaging Triggers, etc. will not be Penalized" we believe there is no penalty in both cases but it is unclear about what happens to the baskets.

Thank you,

Team 5073

A1: The Mountain Goals are attached to the Mountain with zip ties. It is unlikely that an "accidental bump" by a Robot will cause a Mountain Goal to "fall off."

Causing a properly attached Mountain Goal to "fall off" the Mountain is damage to the Playing Field and the Penalty consequence is specified in rule <S1>. The Match will be replayed per rule <G24> if the missed Scoring opportunity caused by the absent Mountain Goal was likely to have impacted which Alliance won the Match. Field Personnel will replace damaged Game Elements after the Match Score has been recorded by the referees.

A2: In addition to the consequences listed in A1 for causing a Mountain Goal to fall off the Mountain, the offending Alliance will incur a Major Penalty for each de-Scored Debris. See rule <GS15> for a complete description of the de-Scoring Debris rule.

The intent of rule <GS15> is to prevent intentional de-Scoring of Debris. Debris that falls out of a Mountain Goal due to Robots climbing the Mountain, bumping into a Mountain Goal or Mountain, placing Debris into a Mountain Goal, engaging Triggers, etc. will not be Penalized. Bumping into a Mountain Goal with sufficient force to dislodge a Goal that is zip tied to the Mountain isn't protected by the exception to rule <GS15> for unintentional de-Scoring while playing the game.

[Air Jordan]

Section 1.5.4.1 - Cliff Low Bar and Pull-up Bar

Nowhere in the rules do we see anything to stop a team from pulling up on the Cliff Low Bar. Though to get points for hanging the robot can only be "resting against" the Cliff Low Bar. We would like verification that the following is legal during autonomous.
1. Using an arm or other mechanism pull your robot up to and using the Cliff Low Bar.
2. From this new position extend and pull up again to the Cliff Bar

Result: the robot is completely supported by the Cliff Bar, but is also resting on the Cliff Low Bar.

A: Robots are allowed to touch, grab, attach, climb on, pull-up with, etc. the Cliff Low Bar during the End Game. The Pull-up Score is based on the location of the Robot at the end of the Match after all objects have come to rest. When the referees are recording the Score after the Match ends, Robots may rest against the Cliff Low bar and still earn points for a successful Pull-up; provided that the Robot is fully Supported by the Pull-up Bar. Robots using the Cliff Low Bar as a "step" for support after the Match ends should not earn Pull-up Score points. Robots resting against the Cliff Low Bar like a person would lean against a wall is allowed for a successful Pull-up Score.

[Air Jordan]

Message from the Game Design Committee - Stopping Robots at the end of the Match

Drive Teams are expected to stop playing the game at the beginning of the game sound that signals the end of the Match. Drive Teams should use the following procedure when stopping game play:

Step 1: Press the Stop Button on the Driver Station Android device. The Robot is considered to be stopped and not playing the game as soon as the Stop Button on the Driver Station Android device has been pressed; even if the Drive Team is still holding the Driver Station components.

Step 2: Place the Driver Station (Gamepads, Android device, USB hub, cables, etc.) in a hands-off location on a tournament provided structure or on the floor of the Alliance Station.

Step 3: Celebrate with your Alliance partner and watch for the referees to signal for teams to retrieve their Robots from the Playing Field**.

Robots are expected to stop playing the game within a reasonable human reaction time following the start of the game sound signaling the end of the Match. Drive Teams should make their best effort to stop game play immediately when the end of Match game sound begins. Before the Penalties described in rule <G8> come into play, referees will use their discretion to give Drive Teams a reasonable length of time to stop playing the game. The Game Design Committee recommends an approximate one second grace period following the conclusion of the game sound signaling the end of the Match for Robots to stop "playing the game."


**Note: Events may require one or more members of the Drive Team to leave the Competition area to make room for volunteers that are preparing the Playing Field for the next Match. The remaining Drive Team member(s) will remove the Robot from the Playing Field after the referees have finished recording the Match Score.

[Air Jordan]

&lt;GS19&gt; Robot Contact with the All Clear Signal at the End of the Match

Consider the case in which a robot has pulled down the All Clear Signal rod with a hook, then proceeds to pull up by that same hook while it is still bearing upon the All Clear Signal rod, which itself is supported by the Pull-up Bar. The robot is fully supported by the Pull-up Bar, but is not in direct contact with it. Does the robot still earn points for the pull-up? Rule GS19 states that the robot may be in contact with the All Clear signal during pull-up, but does not say whether it may be exclusively so, or whether contact with the Pull-up Bar is also required.

A: Yes, Robots that are Supported or Fully Supported by the All-Clear Signal are eligible to earn the Pull-up Bar Score.

[Air Jordan]

Sections 1.5.2.3 and 1.5.3.4 - Parking on the Mountain

If we have a 4 wheel drive robot and all of those wheels are located in the Mid-Zone but there is a device extending out behind us to keep the robot from tipping over and it is touching the low zone. Does that device now become part of our drivetrain?

A: Sections 1.5.2.3 and 1.5.3.4 of the Game Manual Part 2 state that point levels are based on the Area of the Mountain that Supports the Robot. If the anti-tipping device Supports the Robot, it will contribute towards determining where the Robot is Parked. This determination will be made by the referees.

[Air Jordan]

Section 1.5.1 Pre-Match Setup - Pressing the init button on the Driver Station

Hi,

Our team is using 180 degree 1/4 scale servos that were allowed last year. However, we are only getting around 160 degrees of motion, as explained in http://ftcforum.usfirst.org/showthread.php?4461-Servos-with-new-Modern-Robotics-Hardware/page2. When our robot is powered off, or powered on and not initialized, it fits within the 18" cube. However, after it is initialized, it extends past the 18", because the firmware of the Modern Robotics Servo Controller does not produce a PWM signal of the range needed to allow the programed min/max positions to match the servo's mechanical stops.

Q: May we wait until the start of the Autonomous Period to initialize our Robot? Our robot does actually fit in an 18" cube, and the only reason it is not after initializing is due to range of the PWM signal from the servo controller.

A: No, teams are required to press the Driver Station init button during the pre-match setup process.

One remedy is to replace the legacy 180 degree servo with a different model servo that operates within the PWM signal range of the servo controller.

[Air Jordan]

Section 1.5.4.1 - Cliff Low Bar and Pull-up Bar

Hello GDC,

In post #65 you state:

Robots using the Cliff Low Bar as a "step" for support after the Match ends should not earn Pull-up Score points. Robots resting against the Cliff Low Bar like a person would lean against a wall is allowed for a successful Pull-up Score.

This seems like it could be interpreted incorrectly by referees. The game manual specifically states that:

If the Cliff Vertical Divider, Cliff Low Bar and the opposing Alliance Robot are removed from the Mountain, a Robot that is Fully Supported by the Cliff Pull-up Bar would not fall from the Cliff.

So our interpretation is that even if a hanging robot is resting on top of the Low Cliff Bar "like a step", the hang would still count because if the Cliff Low Bar were "removed from the mountain" the hanging robot would "not fall from the cliff".

Your clarification is appreciated.

- - - -
FTC Team #6389
The Lazybotts

A: The Team's interpretation of the Cliff Pull-up Bar Support requirement in the Game Manual Part 2 Section 1.5.4.1 is incorrect. A Robot using the Cliff Low Bar as a "step" Support after the Match Ends doesn't satisfy the requirement that the Robot must be "Fully Supported" by the Cliff Pull-up Bar for a successful Pull-up Score. See Section 1.5.4.1 for the complete details. Robots may rest against the Cliff Low Bar like a person would lean against a wall for a successful Pull-up Score.

[Air Jordan]

&lt;S1&gt; Playing Field Damage - Marks on the Mountain

We would like some clarification on rule <S1>. Would rubber scuffing the mountain constitute as damage to the playing field? It should be noted that the scuffing we are referring to does not in any significant way deform or indent the mountain and is purely aesthetic. The scuffing can be easily removed with only a finger, and no permanent damage is being caused.

Thanks,
Team 10068, Duck-Ties & Zip-Tape

A: Marks made on the Mountain that can be removed by cleaning are not damage to the Playing Field.

[Air Jordan]

&lt;GS7&gt; Debris Possession/Control Constraint

How does <GS7> apply during the autonomous period?

A: I am glad that you asked this question. Incorrect application of <GS7> during the Autonomous Period has the potential for "breaking the game."

First of all, rule <GS7> applies the same way during the Autonomous and Driver-Controlled Periods. The Game Design Committee's intent for this rule is to prevent game play strategies for Scoring or defense that involve the Control or Possession of mass quantities of Debris. A few examples of game play strategies that the rule IS intended to prevent are:

a) Pushing or delivering more than five Debris into a Goal at one time.
b) Pushing or delivering with a single act, more than five Debris into an Area to gain a strategic advantage (e.g. staging Debris for future Scoring into a Goal, defensive blocking access to an Area, etc.).
c) Possessing more than five Debris at any time.

Plowing through Debris without a strategic Scoring or defensive intent for the Debris is NOT subject to rule <GS7> Penalties. A few examples of Robot actions that the rule is NOT intended to prevent (i.e. the actions do not earn <GS7> Penalties) are:

a) A Robot driving from its Match starting location to the Rescue Beacon Repair Zone;
b) Plowing through Debris to gain access to the Mountain;
c) Clearing Debris from blocking access to the Mountain; provided that the Debris is not moved to block the entrance Area of the opposing Alliance's side of the Mountain or to Score in a Floor Goal.

Referees observing the Match will use their judgment to determine if a Robot is plowing through Debris (allowed without incurring a penalty), or if there is a strategic Scoring or defensive intent that should incur <GS7> Penalties.

Any Robot design can violate rule <GS7>, however, some Robot designs are more likely to violate rule <GS7>. For example, a "U" shaped Robot that collects Debris inside the "U" shape while driving around the Playing Field is not able to "plow" through Debris without Possessing Debris that enters the "U". In general, Debris inside the "U" shape will always count towards the five Debris Possession/Control constraint. Robots with the following characteristics are more likely to be viewed as "plowing" through Debris if there is no obvious strategic Scoring or defensive intent:

a) A straight bumper.
b) A bumper surface shaped to passively shed Debris.
c) Ground clearance for Debris to pass underneath and out the back of the Robot as it drives around the Playing Field.
d) Active designs for dispersing Debris out of the way.

One more item before closing out this post. Debris that are in a Scored state In the Floor Goal do not count towards the five Debris Possession/Control constraint while a Robot is in the act of Scoring additional Debris.


Note: The answer in post #31 was changed to match the answer provided in this post.

[Air Jordan]

Section 1.5.4.1 End Game - Cliff Pull-up and the High Zone Goal

The rules explain that non-supportive contact with cliff elements at the completion of a pull-up is allowed as long as the robot is fully supported by the Pull-Up Bar, but no mention is made of such contact with the High Zone Goal. May a robot be in non-supportive contact with the Mountain High Zone Goal (i.e. the side of the Goal) as long as it is fully supported by the Pull-Up Bar, and would remain supported if the Goal were removed?

A: Yes, the Cliff Low Bar exception for contact during a Pull-up also applies to the entire Mountain High Zone Goal.

Additional Guidance:
1. Lateral support provided to the Robot by the High Zone Goal is allowed for a successful Pull-up. For example, a Robot may lean against the side of the of the High Zone Goal and remain eligible for a successful Pull-up.

2. Vertical support provided to the Robot by the High Zone Goal is not allowed for a successful Pull-up. For example, a Robot that is supported by the top edge of a High Zone Goal's sidewall is not eligible for a successful Pull-up.

3. A Robot touching any part of the High Zone Goal remains eligible for Parking in the High Zone.

[Air Jordan]

Controlling Debris with a fan.

Q1: Are we allowed to use a fan (attached to a tetrix motor) to blow away the round debris. Q2: And also what is the exact definition of 'control' when it comes to the debris?

A1: Yes, teams may use legally constructed fans to "blow away" Debris. Fans must be properly guarded so that there is no possibility of the blades coming into contact with a person (team member, FTA, Ref, etc.) or the Playing Field (rule <RG02.a>). Robot Inspectors will be instructed to pay particular attention to fan based devices to insure they can be operated safely.

A2: The term "Control" is defined in Section 1.4 of the Game Manual Part 2. "An object is considered to be Controlled by a Robot if the object is following the movement of the Robot. Examples are: pushing an object on the Playing Field floor, or holding or carrying an object."

[Air Jordan]

Section 1.5.2 Pre Match Setup - Introducing Debris onto the Playing Field

We are wondering what the Game Design Committee wanted for the distribution of the debris. If done by the Field Setup Manual they are poured down the mountain. Many get stuck on the charros and extra work is done to remove them. And sometimes a big pile up of the cubes happens that the base of the mountain creating a significant jam at the bottom of the mountain. If your autonomous goes by the base of the mountain, there is basically no way to get through. But in general our autonomous could go away from the mountain have a reasonably clear path.

But due to the poor distribution and the struck debris, the field setup team started tossing the debris in from the sides. This created a more distributed debris but for most part blocked our autonomous from having any chance to get to the beacon. So we had to settle to just plowing through and hope to end up the floor goal area.

Did the design committee mean for the debris (specifically the blocks) to be in a bigger concentration around the base of the mountain (like an avalanche) which allows for a little more clear path for autonomous by going away from the mountain or for the debris be reasonably distributed around the field.

A: The "Field Setup Manual" is not the correct source for leaning how to introduce Debris onto the Playing Field. The "Field Reset Guide" describes the required way to introduce Debris onto the Playing Field. Following these instructions usually results in no Debris on the Mountain and Debris scattered throughout the Playing Field. Naturally, there will be a higher density of Blocks near the entrance to the Mountain where the Debris first enter the Playing Field. With a little practice, field personnel will master the proper technique for introducing Debris onto the Playing Field.

FIRST asks all events to follow the procedure described in the "Field Reset Guide" so that we have consistency across all competitions.

The "Field Reset Guide" is a free download from the Volunteer Resources page on the FTC website: www.usfirst.org/roboticsprograms/ftc/volunteer-resources. Click on the "Field Resetter Manual" link on the Volunteer Resources page to download a copy of the document.